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Title: GA based adaptive controller for 2DOF robot manipulator
Authors: Vijay, M.
Jena, D.
Issue Date: 2014
Citation: IFAC Proceedings Volumes (IFAC-PapersOnline), 2014, Vol.3, PART 1, pp.670-675
Abstract: In this paper different types of robotic manipulator controllers are developed to acquire dynamic properties and improve the global stability. Here two control schemes for two degrees of freedom (2DOF) robot manipulator are discussed. The controllers are developed using Fminsearch and Genetic Algorithm (GA). The main objectives of these controllers are to provide stability, good disturbance rejection and small tracking error. The Proportional Derivative (PD) and Proportional Integral Derivative (PID) conventional controllers are developed for three different control strategies (IATE, ISE and ISTE) using Fminsearch and GA. The performances of these controllers are compared with various torque disturbances in terms of path tracking and disturbance rejection. � 2014 IFAC.
Appears in Collections:2. Conference Papers

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